@misc{indiciaebd118c7e95a6,
  title = {UDU/T/ covariance factorization for Kalman filtering},
  author = {Thornton, C. L. and Bierman, G. J.},
  year = {1980},
  url = {https://ntrs.nasa.gov/citations/19810030952},
  note = {Source identifier: 19810030952}
}